Near-wall magnetic communication disturbance prediction compensation method, system, device and medium

Abstract

The application discloses a near-wall magnetic communication disturbance prediction compensation method, system, device and medium, and relates to the technical fields of oil pipeline robots and magnetic induction communication. The method synchronously acquires communication signal characteristics, near-wall structure state characteristics, robot motion state characteristics and pipe wall detection characteristics, generates prediction type and feedback type coupling state evaluation values; when the prediction type evaluation value reaches a pre-compensation condition and the feedback type evaluation value has not reached a communication abnormality condition, communication parameter adjustment or data sending control is performed, and a disturbance source is identified according to the consistency, time corresponding relationship and exclusion relationship of multiple source characteristics, and communication compensation, robot motion constraint, pipe wall re-inspection or local re-scraping are performed. After compensation, state data is re-acquired and the coupling state is evaluated to determine whether to restore normal communication, maintain enhanced communication, perform pipe wall re-inspection or local re-scraping, or report an abnormality.

Description

Technical Field

[0001] This invention relates to the fields of oil pipeline robots and magnetic induction communication technology, and particularly to a method, system, equipment, and medium for predicting and compensating near-wall magnetic communication disturbances. Background Technology

[0002] Oil, natural gas and other energy transmission pipelines are typically characterized by enclosed internal spaces, significant metal wall shielding, and complex internal working conditions. The inner wall of the pipeline may also have issues such as weld protrusions, pipe diameter changes, wax buildup, oil contamination, and localized deformation. To complete tasks such as internal pipeline inspection, wax removal, and condition data acquisition, pipeline robots are usually used to operate inside the pipeline.

[0003] Because metal pipe walls can shield and attenuate conventional radio signals, pipeline robots can use low-frequency or very low-frequency magnetic induction communication for data transmission. When working near the wall, factors such as the distance and orientation between the communication coil and the pipe wall, vibration or swaying during robot operation, pipe wall attachments, and environmental electromagnetic noise can all cause changes in the coupling state and communication quality of the magnetic induction communication link.

[0004] Existing pipeline robot communication solutions typically adjust parameters based on communication results such as received signal strength, signal-to-noise ratio, bit error rate, packet loss rate, or connection status. Compensation actions usually occur after communication quality has already deteriorated. Existing wall-adhering or pre-tightening mechanisms are mainly used to ensure robot support, movement, and obstacle crossing, and their mechanical states are usually not correlated with the magnetic induction communication coupling state. Existing wax removal and pipe wall inspection solutions are mainly used to evaluate cleaning effectiveness or pipe wall condition, and rarely use detection information such as residual wax, oil stains, and contour changes to analyze the reasons for communication quality degradation.

[0005] Therefore, when different mechanical disturbances, pipe wall deposits, or electromagnetic interference all manifest as communication signal attenuation, existing technologies struggle to determine the trend of coupling degradation before a significant decline in communication quality. They also struggle to distinguish between different sources of disturbance, such as radial lift-off, impact, contamination, attitude deviation, and electromagnetic interference. This can lead to delays or mismatches between the communication parameter adjustments or operational compensations performed and the actual causes of the disturbances. Summary of the Invention

[0006] The technical problem to be solved by this invention is that existing magnetic induction communication methods for oil pipeline robots mainly rely on feedback adjustments based on communication results such as reduced received signal strength, increased bit error rate, increased packet loss rate, or abnormal communication connection. This makes it difficult to characterize the deterioration trend of near-wall magnetic induction communication coupling before the communication quality deteriorates. At the same time, different disturbances may all manifest as a decline in communication quality, making it difficult to distinguish whether the decline in communication quality is caused by radial lifting, residual wax or oil contamination, weld or protrusion impact, robot sway, or electromagnetic interference. This results in the compensation measures taken not matching the actual source of the disturbance.

[0007] This invention solves the following technical problems: Before the feedback coupling state assessment value reaches the communication anomaly condition, the degradation trend of near-wall magnetic induction communication coupling is predicted by the near-wall structure state and electromagnetic path loss changes. When communication quality degrades, distinguish between radial lift-off disturbances, weld or protrusion impact disturbances, residual wax or oil contamination disturbances, axial or circumferential offset disturbances, and electromagnetic interference disturbances. Based on different sources of disturbance, appropriate communication parameter adjustments, data transmission control, robot motion constraints, pipe wall re-inspection, or local re-scraping strategies are selected to reduce the risk of increased energy consumption, miscompensation, or overcompensation caused by using only a single compensation method such as increasing transmission power. When residual wax or oil contamination causes communication coupling degradation, priority should be given to triggering pipe wall re-inspection or local re-scraping, rather than simply performing electrical parameter compensation; The first control loop and the second control loop respond to transient disturbances and persistent or slowly changing disturbances, respectively. The compensation effect is re-evaluated by assessing the compensated coupling state value, forming a technical chain of state acquisition, coupling state assessment, disturbance source separation, compensation execution, and closed-loop verification.

[0008] Technical Solution: Overall Technical Concept To address the aforementioned technical challenges, during the operation of the oil pipeline robot, the control module synchronously collects the communication signal characteristics of the near-wall communication coil, the near-wall floating state of the coil box, the robot's motion state, and the pipe wall detection information after wax scraping. Based on the aforementioned multi-source state information, a coupled state evaluation value is generated.

[0009] When mechanical disturbances occur before communication quality degradation, the control module triggers pre-compensation based on the predictive coupling state evaluation value. When communication quality has already degraded, the control module determines the source of communication coupling degradation based on disturbance characteristic information and disturbance source separation rules, and executes corresponding communication parameter adjustments, data transmission control, robot motion constraints, pipe wall re-inspection, or local re-scraping strategies according to different disturbance types. After compensation is executed, the control module regenerates the coupling state evaluation value and evaluates the compensation result.

[0010] Therefore, this invention uses predictive coupling state evaluation value and feedback coupling state evaluation value as the evaluation basis for near-wall communication state, uses disturbance feature information as the input for disturbance source separation, uses the disturbance source separation result as the basis for selecting compensation strategy, and uses the compensated coupling state evaluation value as the basis for closed-loop verification.

[0011] The disturbance source separation referred to in this invention refers to identifying and distinguishing disturbance sources that cause communication coupling degradation from a preset candidate disturbance source based on the consistency, time correspondence, and exclusion relationship among communication signal characteristics, near-wall structural state characteristics, robot motion state characteristics, and pipe wall detection characteristics, and outputting one or more disturbance source labels; when the judgment conditions of multiple disturbance sources are met simultaneously, the primary disturbance source is determined according to the degree of satisfaction of each judgment condition, duration, and effectiveness of direct detection features, and the remaining disturbance sources that meet the conditions are retained as secondary disturbance sources.

[0012] The preset sampling period, preset evaluation time window, preset recovery time window, first preset time window and second preset time window mentioned in this invention are all time parameters configured before the robot runs based on the sampling period, communication frame period, robot travel speed and typical pipe segment length, or time parameters dynamically updated based on historical communication status during robot operation.

[0013] The coupling state evaluation value in this invention is used to characterize the near-wall magnetic induction communication coupling state of the communication coil assembly when it is working close to the inner wall of an oil pipeline; the coupling state evaluation value can be represented by a coupling coefficient, a score value, a grade value, a risk value, a probability value, or a status label.

[0014] In a preferred embodiment, the coupling state evaluation value includes a predictive coupling state evaluation value and a feedback coupling state evaluation value, and a comprehensive coupling state evaluation value can be generated based on the predictive coupling state evaluation value and the feedback coupling state evaluation value.

[0015] Overall Method Flow The method for separating, predicting, and compensating near-wall magnetic induction communication disturbance sources for oil pipeline robots includes the following steps: S1, synchronously acquire near-wall communication status data; S2, Generate a coupling state evaluation value based on the near-wall communication state data; S3, construct disturbance feature information based on the coupling state evaluation value and near-wall communication state data; S4, perform disturbance source separation based on the disturbance characteristic information to identify the source of communication coupling degradation; S5, Generate a hierarchical cascaded compensation strategy based on the disturbance source separation results; S6, execute the hierarchical cascade compensation strategy and regenerate the coupling state evaluation value after compensation; S7, based on the regenerated coupling state assessment value, decides whether to restore the normal communication mode, maintain the enhanced communication mode, perform pipe wall re-inspection or local re-scraping, or report the anomaly.

[0016] Step S1: Synchronously acquire near-wall communication status data The control module synchronously acquires near-wall communication status data during the operation of the oil pipeline robot; To separate radial lifting disturbances, weld or protrusion impact disturbances, residual wax or oil contamination disturbances, axial or circumferential offset disturbances, and electromagnetic interference disturbances, the near-wall communication status data includes communication signal characteristics, near-wall structural status characteristics, robot motion status characteristics, and pipe wall detection characteristics. In an alternative implementation that identifies only some sources of disturbance, the corresponding features among the above features can be selected based on the sources of disturbance to be identified, but the identified sources of disturbance are limited to those that can be determined by the selected features. The communication signal characteristics include at least one of the following: received signal strength, signal-to-noise ratio, phase deviation, phase stability, bit error rate, packet loss rate, number of retransmissions, retransmission rate, noise floor variation, and spectrum anomaly characteristics, used to characterize the actual communication quality or interference status of the current magnetic induction communication link. The near-wall structural state characteristics include at least one of the following: radial floating displacement of the coil box, radial displacement change rate of the coil box, contact state of the wall-mounted roller, attitude fluctuation of the communication coil, retraction or reset state of the coil box, and near-wall distance estimation value, which are used to characterize the geometric state and mechanical disturbance state of the communication coil relative to the tube wall. The robot motion state characteristics include at least one of the following: robot travel speed, peak acceleration, vibration amplitude, yaw state, impact signal when passing through weld seams or narrowing sections, and the unfolding or retracting state of the wax scraping tool, which are used to characterize the robot's running posture, impact state, and working state. The pipe wall detection features include at least one of the following: pipe wall profile after wax scraping, residual wax layer thickness, laser reflection intensity, local protrusion height, pipe wall depression or diameter change information, and pipe wall state difference before and after wax scraping, obtained by a laser sensor, which are used to characterize the influence of the pipe wall environment on the near-wall magnetic induction communication coupling state. In one embodiment, the radial floating displacement of the coil box is obtained by a displacement sensor, or indirectly by the compression of the preload spring, the displacement of the wall roller, the guide slip of the coil box relative to the communication compartment, or other parameters that can characterize the radial floating state of the coil box; the above methods are used to obtain the mechanical domain state and do not require the installation of an active radial adjustment mechanism.

[0017] Step S2: Generate coupling state evaluation value The control module generates a coupling state evaluation value based on near-wall communication status data; The coupling state evaluation value can be a continuous value, or it can be a discrete level, risk label, or anomaly probability.

[0018] 1. Predictive Coupled State Evaluation Value The predictive coupling state evaluation value is used to predict the communication coupling degradation trend based on the near-wall structure state and electromagnetic path loss changes before the feedback coupling state evaluation value reaches the communication anomaly condition. When the near-wall position, radial displacement change, or impact state of the communication coil in the mechanical domain occurs before the increase in bit error rate, packet loss rate, or retransmission count, the control module uses the preceding changes in the mechanical domain state to characterize the trend of communication coupling degradation. In one implementation, the predictive coupling state evaluation value is expressed as: ; in, This is a predictive coupling state evaluation value; the larger the value, the better the predicted near-wall coupling state. This refers to the current sampling time or the current control cycle. , , and These are weights for near-wall displacement disturbance, radial displacement rate of change, electromagnetic path loss, and vibration or acceleration, respectively, and these weights are non-negative. , , and These are the normalized near-wall displacement disturbance, the normalized radial displacement rate of change, the normalized electromagnetic path loss increment, and the normalized vibration or acceleration characteristics, respectively. The normalized near-wall displacement perturbation is expressed as: ; in, This is an estimate of the current radial floating displacement of the coil box or its equivalent near-wall distance. This refers to the reference displacement or reference near-wall distance under calibration conditions. This is the normalized reference value for displacement, and ; The normalized radial displacement rate of change is expressed as: ; in, The sampling interval; This is the estimated radial floating displacement or equivalent near-wall distance of the coil box at the previous sampling time. This is a reference value for the radial displacement rate of change, and ; The normalized electromagnetic path loss increment is expressed as: ; in, This is the current estimated electromagnetic path loss. This refers to the path loss under calibrated conditions. This serves as a reference value for path loss normalization, and The current electromagnetic path loss estimate is obtained based on the transmit power, received signal strength, signal-to-noise ratio, or calibration model. The normalized vibration or acceleration characteristics are expressed as follows: ; in, This represents the current vibration amplitude or acceleration characteristic value. This is a normalized reference value for vibration or acceleration, and .

[0019] 2. Feedback-type coupling state evaluation value The feedback-type coupling state evaluation value is used to evaluate the actual communication quality based on the current communication results; In one implementation, the feedback-type coupling state evaluation value is expressed as: ; in, This is a feedback-type coupling state evaluation value; the larger the value, the better the actual communication quality. , , , and These are the received signal strength weight, signal-to-noise ratio weight, phase stability weight, bit error rate weight, and retransmission rate or packet loss rate weight, respectively, and the weights are non-negative weights. , , , and These are normalized received signal strength, normalized signal-to-noise ratio, normalized phase stability, normalized bit error rate, and normalized retransmission rate or packet loss rate, respectively.

[0020] 3. Comprehensive Coupling State Evaluation Value In one implementation, the comprehensive coupling state evaluation value is expressed as: ; in, This is a comprehensive evaluation value of the coupling state; The fusion weight between the predictive coupled state evaluation value and the feedback coupled state evaluation value is given, and .

[0021] When the predictive coupling state evaluation value is lower than the pre-compensation threshold, the feedback coupling state evaluation value is not lower than the communication anomaly threshold, and at least one of the following conditions is met, the control module determines that the communication coupling has a deterioration trend and triggers the pre-compensation strategy: the deviation of the radial floating displacement of the coil box from the reference displacement increases within a consecutive preset number of sampling periods and reaches the displacement warning threshold; the radial displacement change rate of the coil box reaches the change rate warning threshold; the vibration amplitude or acceleration characteristics reach the vibration warning threshold; and the communication coil attitude fluctuation characteristics reach the attitude warning threshold.

[0022] like Figure 3 As shown, communication signal characteristics, near-wall structural state characteristics, robot motion state characteristics, and pipe wall detection characteristics form multi-source near-wall communication state data 301; based on the multi-source near-wall communication state data 301, predictive coupling state evaluation value 302 and feedback coupling state evaluation value 303 are generated respectively, and fused to generate comprehensive coupling state evaluation value 304; the judgment module 305 determines whether the pre-compensation execution unit 306 executes the pre-compensation strategy according to the pre-compensation triggering condition, and then the output unit 307 outputs the coupling state evaluation result and outputs the result to the disturbance feature information construction module 308.

[0023] Step S3: Construct perturbation feature information The control module constructs disturbance characteristic information based on the coupling state evaluation value and near-wall communication state data; The disturbance feature information can be represented by feature vectors, feature tables, rule trigger sets, state label sets, or combinations thereof, and is used to organize the multi-source state information required for disturbance source separation. In a preferred embodiment, the perturbation feature information is represented by the following perturbation feature vector: ; in, The perturbation feature vector; Normalized phase deviation is used to characterize the degree of phase shift or phase fluctuation. To normalize the thickness of the residual wax layer or the height of local protrusions, used to characterize the impact of residual wax, protrusions or uncleaned areas on the communication coupling state; The normalized laser reflection intensity anomaly is used to characterize the abnormal state of oil film, wax debris, residual wax or pipe wall surface. The laser reflection intensity anomaly refers to the change in laser reflection intensity relative to the calibrated state that meets the preset anomaly judgment conditions. This indicates transpose.

[0024] The normalized laser reflection intensity anomaly is determined based on the absolute difference between the current laser reflection intensity and the laser reflection intensity under calibration, and the normalized reference value of the reflection intensity; the normalized residual wax layer thickness or local protrusion height is determined based on the difference between the current detection value and the corresponding benchmark value, and the corresponding normalized reference value.

[0025] Step S4: Perform disturbance source separation The control module identifies the sources of communication coupling degradation based on disturbance characteristic information and disturbance source separation rules; The sources of communication coupling degradation include at least one of radial lift-off disturbance, weld or protrusion impact disturbance, residual wax or oil contamination disturbance, axial or circumferential offset disturbance, and electromagnetic interference disturbance.

[0026] 1. Radial lift-off disturbance When the equivalent near-wall distance between the communication coil and the tube wall increases relative to the reference near-wall distance, the normalized near-wall displacement disturbance exceeds the first displacement threshold, the predictive coupling state evaluation value decreases, the received signal strength or signal-to-noise ratio decreases, and the vibration amplitude or acceleration characteristics do not reach the impact threshold, the normalized laser reflection intensity anomaly does not reach the reflection intensity anomaly threshold, and the residual wax layer thickness does not exceed the residual wax threshold, it is determined to be a radial lift-off disturbance. The radial lift-off disturbance corresponds to the weakening of magnetic induction coupling caused by the increase in the equivalent near-wall distance between the communication coil and the tube wall.

[0027] 2. Impact disturbance from weld seams or protrusions When the radial displacement rate of change reaches the rate of change impact threshold within the first preset time window, the vibration amplitude or acceleration peak reaches the impact threshold, the received signal strength or signal-to-noise ratio decreases within the first preset time window, and the feedback coupling state evaluation value recovers to above the recovery threshold within the preset recovery time window, it is determined to be a weld or protrusion impact disturbance. The weld or protrusion impact disturbance corresponds to the transient communication coil attitude change or contact impact caused when the robot passes through the weld, protrusion, narrowing section or local hard wax layer.

[0028] 3. Residual wax or oil contamination and disturbance When the pipe wall detection characteristics meet at least one of the following conditions: the normalized laser reflection intensity anomaly reaches the reflection intensity anomaly threshold, the residual wax layer thickness exceeds the residual wax threshold, the pipe wall contour difference before and after wax scraping reaches the contour difference threshold; at the same time, the normalized near-wall displacement disturbance does not exceed the first displacement threshold, the received signal strength or signal-to-noise ratio continues to decrease within the second preset time window, and the bit error rate, retransmission rate or retransmission count continues to increase within the second preset time window, it is determined to be residual wax or oil contamination disturbance; The disturbance caused by residual wax or oil contamination corresponds to the equivalent near-wall spacing change, near-wall protective end face surface condition change of the communication coil, or local near-wall medium environment change caused by residual wax layer, oil film, wax debris, or attachments inside the pipe wall. The determination of the disturbance is not based solely on a single change in laser reflection intensity, but rather on a combination of pipe wall detection characteristics, near-wall displacement state, and continuous changes in communication quality.

[0029] 4. Axial or circumferential offset disturbance When the normalized near-wall displacement disturbance does not exceed the first displacement threshold, the received signal strength or phase deviation fluctuates periodically within the preset evaluation time window, the robot yaw state or communication coil attitude change has a time correspondence with the periodic fluctuation, and the noise floor change does not reach the interference threshold, it is determined to be an axial or circumferential offset disturbance. The axial or circumferential offset disturbance corresponds to robot yaw, changes in the attitude of the communication coil, or deviation in the coupling direction between the communication coil and the external receiver.

[0030] 5. Electromagnetic interference disturbance When the normalized near-wall displacement disturbance does not exceed the first displacement threshold, the vibration amplitude or acceleration characteristic does not reach the impact threshold, the pipe wall detection characteristic does not reach the corresponding abnormal threshold, but the noise floor change reaches the interference threshold or an abnormal peak appears in the spectrum that reaches the interference peak threshold, and the signal-to-noise ratio decreases while the received signal strength does not decrease in accordance with the decrease in the signal-to-noise ratio, it is determined to be an electromagnetic interference disturbance.

[0031] The electromagnetic interference disturbances refer to external electromagnetic noise, interference from robot drive components, or changes in the local electromagnetic environment.

[0032] When the normalized laser reflection intensity anomaly reaches the reflection intensity anomaly threshold, the normalized near-wall displacement disturbance does not exceed the first displacement threshold, and the residual wax layer thickness exceeds the residual wax threshold or the pipe wall profile difference before and after wax scraping reaches the profile difference threshold, it is preferentially determined to be residual wax or oil pollution disturbance, rather than radial lift-off disturbance, and the pipe wall re-inspection or local re-scraping strategy is preferentially triggered; when there is only an abnormal laser reflection intensity and the residual wax layer thickness and pipe wall profile difference have not yet met the corresponding conditions, the pipe wall re-inspection is triggered first, and the source of disturbance is determined to be residual wax or oil pollution disturbance based on the pipe wall detection characteristics obtained from the re-inspection.

[0033] The disturbance source separation rule is implemented using rule thresholds, decision trees, state machines, lookup table rules, or a combination thereof, based on the consistency or inconsistency between the mechanical domain state, electromagnetic domain signal, and pipe wall detection information.

[0034] When the determination conditions for two or more disturbance sources are met simultaneously, the control module generates corresponding disturbance source labels respectively, and determines the main disturbance source based on the degree of satisfaction of each determination condition, duration, and whether the pipe wall detection characteristics or mechanical state characteristics provide direct evidence; the compensation strategy at least covers the main disturbance source and can also cover the secondary disturbance source at the same time.

[0035] Step S5: Generate hierarchical cascaded compensation strategy The control module generates a hierarchical cascaded compensation strategy based on the disturbance source separation result; the hierarchical cascaded compensation strategy includes a fast compensation strategy corresponding to the first control loop and a slow collaborative compensation strategy corresponding to the second control loop; the first control loop is used to handle disturbances whose duration does not exceed the first preset time window or can be recovered within the preset recovery time window; the second control loop is used to handle disturbances whose duration reaches the second preset time window, exist for multiple consecutive preset evaluation cycles, or require robot operation actions to handle, and the second preset time window is not shorter than the first preset time window.

[0036] The first control loop is used to respond to disturbances in weld or protrusion impacts, vibrations, swaying, or signal fading that last no longer than a first preset time window or can be recovered within a preset recovery time window, and to perform at least one of the following actions: reducing communication rate, increasing error correction coding redundancy, extending synchronization preamble, increasing data retransmission times, caching high-priority detection data, delaying the transmission of key data, transmitting key data within the robot posture stabilization time window, and retransmitting abnormal data packets.

[0037] The second control loop is used to respond to disturbances such as residual wax or oil contamination, lifting, displacement, or abnormal pipe wall condition that last for a second preset time window, exist for multiple consecutive preset evaluation cycles, or require robot operation actions to handle, and to perform at least one of the following actions: reducing robot travel speed, triggering pipe wall re-inspection, requesting the wax scraping mechanism to re-scrape the local area, marking the current pipe segment as a communication risk area, switching carrier frequency, switching resonance parameters, adjusting communication time slot, maintaining enhanced error correction mode, caching high-priority detection data until communication quality is restored before sending, and reporting anomalies.

[0038] The enhanced communication mode refers to a communication mode that performs at least one of the following actions: reducing communication rate, increasing error correction coding redundancy, extending synchronization preamble, increasing data retransmission frequency, caching critical data, or retransmitting data.

[0039] When the disturbance is determined to be caused by residual wax or oil contamination, the second control loop prioritizes the pipe wall re-inspection or local re-scraping strategy; when the coupling status evaluation value after re-inspection or re-scraping reaches the recovery threshold, the normal communication mode is restored; when the coupling status evaluation value after re-inspection or re-scraping does not reach the recovery threshold, the enhanced communication mode is executed or an anomaly is reported.

[0040] In an alternative embodiment, when the robot is equipped with an active radial adjustment mechanism, the second control loop is also used to adjust the radial position or pre-tightening state of the communication coil box; the active radial adjustment mechanism is not a necessary technical feature of the method of the present invention.

[0041] Step S6: Perform predictive compensation When at least one of the following conditions is met: the predictive coupling state evaluation value is lower than the pre-compensation threshold, the feedback coupling state evaluation value is not lower than the communication anomaly threshold, and the deviation of the radial floating displacement of the coil box increases within a consecutive preset number of sampling periods and reaches the displacement warning threshold, the radial displacement change rate of the coil box reaches the change rate warning threshold, the vibration amplitude or acceleration characteristic reaches the vibration warning threshold, or the communication coil attitude fluctuation characteristic reaches the attitude warning threshold, the control module triggers the pre-compensation strategy.

[0042] The pre-compensation strategy includes at least one of the following actions: reducing the communication rate in advance, increasing error correction redundancy in advance, extending the synchronization preamble, caching high-priority detection data, suspending the transmission of critical data, and preparing to switch communication time slots or carrier frequencies.

[0043] When the feedback coupling state evaluation value is lower than the communication anomaly threshold, the control module executes strategies such as enhanced communication, pipe wall re-inspection, local re-scraping, reducing robot travel speed, or anomaly reporting based on the disturbance source separation result.

[0044] Step S7: Perform closed-loop verification After compensation is performed, the control module reacquires near-wall communication status data within a preset evaluation time window, and regenerates the coupling status evaluation value based on the reacquired near-wall communication status data. Based on the regenerated coupling status evaluation value and the disturbance source separation result, the following processing is performed: When the coupling state evaluation value recovers to above the normal threshold, the normal communication mode is restored. When the coupling state evaluation value is lower than the normal threshold but not lower than the abnormal threshold, the enhanced communication mode is maintained. When the coupling state assessment value is lower than the abnormal threshold and the disturbance type is residual wax or oil contamination disturbance, perform pipe wall re-inspection or local re-scraping. When the coupling state evaluation value is lower than the abnormal threshold and the disturbance type is electromagnetic interference, switch the carrier frequency, switch the resonant parameters, or adjust the filtering strategy. When the coupling state evaluation value is lower than the abnormal threshold for multiple consecutive preset evaluation periods, an anomaly is reported and key data is cached.

[0045] The normal threshold is higher than the abnormal threshold.

[0046] Threshold configuration The displacement warning threshold is used to determine the premature change state of the radial floating displacement of the coil box; the rate of change warning threshold is used to determine the trend of radial displacement change; the vibration warning threshold is used to determine the vibration or acceleration warning state used for pre-compensation; the attitude warning threshold is used to determine the warning state of the communication coil attitude fluctuation; the first displacement threshold is used to determine the near-wall displacement disturbance state; the rate of change impact threshold and the impact threshold are used to determine the weld or protrusion impact state; the residual wax threshold, the abnormal reflection intensity threshold, and the profile difference threshold are used to determine the pipe wall attachment or uncleaned state; the interference threshold and the interference peak threshold are used to determine the electromagnetic interference state; the communication anomaly threshold is used to determine whether the feedback coupling state evaluation value reaches the communication anomaly condition; the pre-compensation threshold is used to determine whether the predictive coupling state evaluation value reaches the pre-compensation condition; the recovery threshold is used to determine whether the communication state after compensation reaches the recovery condition; the normal threshold and the anomaly threshold are used for the closed-loop state judgment after compensation.

[0047] The aforementioned thresholds, first preset time window, second preset time window, preset evaluation time window, and preset recovery time window are all configurable parameters, determined based on pipe inner diameter, pipe wall material, communication coil parameters, communication carrier frequency, robot travel speed, wax layer thickness, communication rate, sampling period, or on-site calibration results. Both the predictive coupling state evaluation value and the feedback coupling state evaluation value are considered to have better coupling states with larger values. The pre-compensation threshold is used for comparison with the predictive coupling state evaluation value, and the communication anomaly threshold is used for comparison with the feedback coupling state evaluation value; both are determined based on the corresponding evaluation value's scale and calibration results. The normal threshold is higher than the anomaly threshold.

[0048] The aforementioned thresholds and time windows can be fixed calibration values ​​or dynamically updated based on the robot's operating stage, pipe segment type, historical communication status, or on-site operation status. During calibration, reference data is first collected in pipe segments where the communication coil is in a normal near-wall position, the robot is running stably, and the pipe wall is cleaned, to determine the reference displacement, reference near-wall distance, reference path loss, reference laser reflection intensity, and various normalized reference values. Then, using calibration data or historical operating data under conditions of pipe diameter change, weld or protrusion, residual wax or oil, robot sway, and electromagnetic noise, the thresholds and time windows that can distinguish between normal states and corresponding disturbance states are determined. Finally, the reference values, thresholds, weights, and time windows are written into the control module.

[0049] Each weight can be determined based on the feature discrimination of the calibration data, historical communication status, or on-site operation results, and must satisfy non-negativity constraints. When using rule thresholds to separate disturbance sources, the conditions and priorities of each rule are written into the control module before the robot runs. When using decision trees, state machines, or lookup table rules, the same calibration data generates corresponding judgment nodes, state transition conditions, or lookup table entries.

[0050] System architecture for implementing the method like Figure 2 As shown, in one embodiment, the system for implementing the above method includes a state acquisition module 201, a coupled state evaluation module 202, a disturbance feature information construction module 203, a disturbance source separation module 204, a hierarchical cascade compensation module 205, a communication execution module 206, a closed-loop verification module 207, and a job coordination module 208.

[0051] The status acquisition module 201 is used to synchronously acquire near-wall communication status data, which includes communication signal characteristics, near-wall structural status characteristics, robot motion status characteristics, and pipe wall detection characteristics.

[0052] The coupling state evaluation module 202 is used to generate a predictive coupling state evaluation value based on the near-wall structure state characteristics and the electromagnetic path loss change determined based on the near-wall communication state data, and to generate a feedback coupling state evaluation value based on the communication signal characteristics.

[0053] The disturbance feature information construction module 203 is used to construct disturbance feature information based on the coupling state evaluation value and near-wall communication state data.

[0054] The disturbance source separation module 204 is used to identify at least one of radial lift-off disturbance, weld or protrusion impact disturbance, residual wax or oil contamination disturbance, axial or circumferential offset disturbance, and electromagnetic interference disturbance based on the consistency, time correspondence, and exclusion relationship between different physical domain characteristics.

[0055] The hierarchical cascaded compensation module 205 is used to generate compensation strategies corresponding to the first control loop and the second control loop based on the disturbance source separation results. The hierarchical cascaded compensation module 205 is also used to generate a pre-compensation strategy including at least one action of communication parameter adjustment and data transmission control when the predictive coupling state evaluation value is lower than the pre-compensation threshold, the feedback coupling state evaluation value is not lower than the communication anomaly threshold, and at least one of the following is satisfied: the radial floating displacement of the coil box reaches the displacement warning threshold, the radial displacement change rate of the coil box reaches the change rate warning threshold, the vibration or acceleration characteristics reach the vibration warning threshold, or the communication coil attitude fluctuation characteristics reach the attitude warning threshold.

[0056] The communication execution module 206 is used to perform at least one of the following actions: communication rate adjustment, error correction redundancy adjustment, synchronization preamble extension, data buffering, data retransmission, communication time slot adjustment, carrier frequency switching, or resonance parameter switching.

[0057] The closed-loop verification module 207 is used to reacquire near-wall communication status data after compensation is performed, and regenerate coupling status evaluation value based on the reacquired near-wall communication status data. Based on the regenerated coupling status evaluation value and the disturbance source separation result, it determines whether to restore normal communication mode, maintain enhanced communication mode, perform pipe wall re-inspection or local re-scraping, or report anomalies.

[0058] The operation coordination module 208 is used to execute robot motion constraints based on the disturbance source separation results, and when it is determined that the disturbance is caused by residual wax or oil pollution, it triggers pipe wall re-inspection or requests the wax scraping mechanism to perform local re-scraping.

[0059] In one embodiment, the system further includes a near-wall magnetic induction communication coil assembly and a control module. The state acquisition module 201 includes a communication signal acquisition unit, a near-wall state detection unit, a motion state detection unit, and a pipe wall detection unit. The communication signal acquisition unit is used to acquire at least one of the following: received signal strength, signal-to-noise ratio, phase deviation, phase stability, bit error rate, packet loss rate, number of retransmissions, retransmission rate, noise floor variation, and spectral anomaly characteristics.

[0060] The near-wall state detection unit is used to detect at least one of the following: radial floating displacement of coil box, radial displacement change rate of coil box, contact state of wall roller, attitude fluctuation of communication coil, retraction or reset state of coil box, and near-wall distance estimate. The motion state detection unit is used to detect at least one of the following: robot travel speed, peak acceleration, vibration amplitude, yaw state, and impact signal when passing through weld seams or narrowing sections.

[0061] The pipe wall detection unit is used to detect at least one of the following: pipe wall profile after wax scraping, residual wax layer thickness, laser reflection intensity, local protrusion height, pipe wall depression or diameter change information, and the difference in pipe wall condition before and after wax scraping.

[0062] The control module is connected to the near-wall magnetic induction communication coil assembly, the communication signal acquisition unit, the near-wall state detection unit, the motion state detection unit, and the pipe wall detection unit, respectively, and is used to realize the functions of the coupling state evaluation module 202, the disturbance feature information construction module 203, the disturbance source separation module 204, the hierarchical cascade compensation module 205, the communication execution module 206, the closed-loop verification module 207, and the operation coordination module 208.

[0063] The communication signal acquisition unit, near-wall state detection unit, motion state detection unit, and pipe wall detection unit provide state data from different physical domains to the control module, enabling the control module to perform coupled state assessment, disturbance source separation, and differential compensation based on multi-source state data.

[0064] electronic devices The present invention also provides an electronic device, including a processor and a memory, wherein the memory stores a computer program; when the computer program is executed by the processor, the electronic device controls an oil pipeline robot to perform the above-described near-wall magnetic induction communication disturbance source separation prediction compensation method.

[0065] The electronic device executes the computer program to perform coupling state assessment, disturbance source separation, and compensation strategy generation on near-wall communication status data, and outputs corresponding control commands to the communication execution module or operation coordination module.

[0066] Computer-readable storage media The present invention also provides a computer-readable storage medium storing a computer program; when the computer program is executed by a processor, it enables an electronic device to control an oil pipeline robot to implement the above-mentioned near-wall magnetic induction communication disturbance source separation prediction compensation method.

[0067] Beneficial effects: Compared with communication methods that mainly adjust based on feedback of communication quality degradation, the present invention has the following beneficial effects: Since this invention generates a predictive coupling state evaluation value based on the near-wall structural state and electromagnetic path loss changes, it can trigger pre-compensation before the feedback coupling state evaluation value reaches the communication anomaly condition when the mechanical domain state change occurs before the actual communication quality decline occurs, thereby reducing the risk of compensation lag caused by only performing feedback adjustment after the communication quality decline. Because this invention utilizes communication signal characteristics, near-wall structural state characteristics, robot motion state characteristics, and pipe wall detection characteristics simultaneously, and separates disturbance sources based on the consistency, time correspondence, and exclusion relationships between different state characteristics, it can distinguish radial lifting disturbances, weld or protrusion impact disturbances, residual wax or oil contamination disturbances, axial or circumferential offset disturbances, and electromagnetic interference disturbances, thereby reducing the risk of miscompensation or overcompensation caused by using the same compensation action for different disturbances. When the disturbance is determined to be caused by residual wax or oil contamination, the present invention prioritizes re-inspection of the pipe wall or local re-scraping, rather than prioritizing increasing the transmission power. This allows the compensation action to address the continuous communication coupling degradation caused by residual wax layer, oil film or wax debris on the pipe wall, thereby reducing the risk of ineffective compensation and increased energy consumption caused by using only electrical parameter compensation. The present invention addresses disturbances whose response duration does not exceed a first preset time window or can be recovered within a preset recovery time window, and disturbances whose response duration reaches a second preset time window, exist for multiple consecutive preset evaluation cycles, or require robot operation actions to handle. This ensures that the executed compensation action corresponds to the temporal characteristics and source of the disturbance, thereby improving the pertinence of the communication maintenance strategy. This invention regenerates the coupling state evaluation value after compensation is performed, and decides whether to restore the normal communication mode, maintain the enhanced communication mode, perform pipe wall re-inspection or local re-scraping, or report anomalies based on the regenerated coupling state evaluation value. This forms a process of state acquisition, coupling state evaluation, disturbance source separation, compensation execution and closed-loop verification, which helps to reduce the risk of communication state not being restored in time and loss of key detection data. Since the state acquisition, disturbance source separation, and compensation logic of this invention do not require an active radial adjustment mechanism as a necessary condition, it can be applied to passive near-wall floating coil structures. When an active radial adjustment mechanism is provided, the radial position or pre-tightening state of the communication coil box can also be adjusted using this mechanism, thereby facilitating the application of the method to different near-wall communication structures. By integrating predictive and feedback-based coupling state assessment values, we can simultaneously utilize the coupling degradation trend characterized by the near-wall structural state and the actual communication quality characterized by the communication signal, providing a comprehensive state basis for pre-compensation triggering, disturbance source separation, and post-compensation evaluation. Attached Figure Description

[0068] Figure 1 Flowchart of a method for separating, predicting and compensating near-wall magnetic induction communication disturbance sources for oil pipeline robots; Figure 2 This is a block diagram of the near-wall communication status acquisition and control system. Figure 3 Generate and predict compensation logic diagrams for coupling state evaluation values; Figure 4 This is a schematic diagram of the rules for separating disturbance sources; Figure 5 This is a schematic diagram of a hierarchical cascaded compensation architecture; Figure 6 A collaborative flowchart for re-inspection and re-scraping under the disturbance of residual wax or oil contamination; Figure 7 This is a schematic diagram summarizing the near-wall magnetic communication disturbance prediction and compensation technology scheme. Detailed Implementation

[0069] The following combination Figures 1 to 7 The specific embodiments of the present invention will be further described below.

[0070] like Figure 7As shown, this invention simultaneously acquires communication signal features, near-wall structural state features, robot motion state features, and pipe wall detection features to generate predictive coupling state evaluation values ​​and feedback coupling state evaluation values. When pre-compensation conditions are met, pre-compensation is performed, and the sources of communication coupling degradation are identified based on the consistency, time correspondence, and exclusion relationships among multi-source state features, generating and executing differentiated compensation strategies. After compensation, state data is reacquired and coupling state is evaluated to determine subsequent communication modes, compensation processing, or anomaly reporting.

[0071] The predictive coupling state evaluation value, the feedback coupling state evaluation value, and the comprehensive coupling state evaluation value are generated according to the aforementioned calculation method; the pre-compensation threshold, communication anomaly threshold, first displacement threshold, impact threshold, residual wax threshold, recovery threshold, normal threshold, and anomaly threshold can be fixed calibration values, or they can be updated according to the pipe inner diameter, pipe wall material, communication coil parameters, communication carrier frequency, robot travel speed, wax layer thickness, communication rate, robot operation stage, pipe section type, historical communication status, or on-site operation status.

[0072] In one implementation, each communication signal characteristic is normalized based on reference values ​​under calibration conditions; wherein, the normalized values ​​corresponding to received signal strength, signal-to-noise ratio, and phase stability increase as the communication condition improves; the normalized values ​​corresponding to bit error rate, retransmission rate, or packet loss rate increase as the degree of communication anomaly increases, and are deducted as a deduction item in the feedback-type coupling state evaluation value; each normalized reference value and weight can be determined based on the calibration results of normal pipe sections, historical communication conditions, or on-site calibration results.

[0073] In the implementation of the comprehensive coupling state evaluation value, the control module fuses the predictive coupling state evaluation value and the feedback coupling state evaluation value according to the aforementioned fusion method, and uses the generated comprehensive coupling state evaluation value as the comprehensive state basis for evaluation after disturbance source separation or compensation.

[0074] The hierarchical cascaded compensation described in this application refers to configuring a fast compensation strategy corresponding to the first control loop and a slow collaborative compensation strategy corresponding to the second control loop based on the temporal characteristics of the disturbance and the result of disturbance source separation, and selecting a control loop and compensation action corresponding to the identified disturbance; the duration of the disturbance handled by the first control loop does not exceed a first preset time window or can be recovered within a preset recovery time window; the duration of the disturbance handled by the second control loop reaches the second preset time window, exists for multiple consecutive preset evaluation cycles, or requires robot operation actions to cooperate in processing; the disturbance source separation rule can adopt at least one of rule threshold, decision tree, state machine, or lookup table rule.

[0075] The enhanced communication mode refers to a communication mode that performs at least one of the following actions: reducing communication rate, increasing error correction coding redundancy, extending synchronization preamble, increasing data retransmission frequency, caching high-priority detection data, or retransmitting data.

[0076] Example 1: Predictive Compensation under Radial Lift-off Perturbation Combination Figure 1 , Figure 3 and Figure 4 When the oil pipeline robot is running inside the pipeline, the communication coil approaches the pipe wall via a near-wall floating structure. When the robot enters a region with a locally increased pipe diameter, or when the equivalent near-wall distance between the communication coil's coil housing and the pipe wall tends to increase relative to the reference near-wall distance, the radial floating displacement of the coil housing deviates from the reference position. The status acquisition module synchronously acquires communication signal characteristics, near-wall structure status characteristics, robot motion status characteristics, and pipe wall detection characteristics. In this embodiment, the characteristics used for radial lift-off determination include the coil box radial floating displacement d(t), the coil box radial displacement change rate, received signal strength, signal-to-noise ratio, bit error rate, robot vibration amplitude, laser reflection intensity, and residual wax layer thickness. The current electromagnetic path loss estimate can be determined based on the transmit power, received signal strength, signal-to-noise ratio, or calibration model. The control module generates a predictive coupling status evaluation value based on the near-wall structure status characteristics and electromagnetic path loss changes, and generates a feedback coupling status evaluation value based on the received signal strength, signal-to-noise ratio, or bit error rate. When the predictive coupling state evaluation value is lower than the pre-compensation threshold, the feedback coupling state evaluation value is not lower than the communication anomaly threshold, and the deviation of the radial floating displacement of the coil box from the reference displacement increases within a consecutive preset number of sampling periods and reaches the displacement warning threshold, or the radial displacement change rate of the coil box reaches the change rate warning threshold, the control module determines that there is a deterioration trend in the near-wall magnetic induction communication coupling and triggers the pre-compensation strategy. The pre-compensation strategy includes at least one of the following actions: reducing the communication rate in advance, increasing the redundancy of error correction coding, extending the synchronization preamble, and caching high-priority detection data. When the normalized near-wall displacement disturbance exceeds the first displacement threshold, the predictive coupling state evaluation value decreases, the received signal strength or signal-to-noise ratio decreases, and the robot vibration amplitude or acceleration characteristics do not reach the impact threshold, the normalized laser reflection intensity anomaly does not reach the reflection intensity anomaly threshold, and the residual wax layer thickness does not exceed the residual wax threshold, the control module identifies the source of communication coupling degradation as radial lift-off disturbance. After the robot passes through the corresponding pipe section, the control module reacquires the near-wall communication status data within the preset evaluation time window, and regenerates the coupling status evaluation value based on the reacquired near-wall communication status data; when the regenerated coupling status evaluation value recovers to above the normal threshold, the normal communication mode is restored; when the regenerated coupling status evaluation value does not reach the normal threshold, the enhanced communication mode is maintained or an anomaly is reported. This embodiment utilizes the changes in the near-wall structure state that precede the actual decline in communication quality to perform communication parameter adjustments or data protection in advance, which helps to reduce the risk of compensation lag caused by only making feedback adjustments after the communication quality declines.

[0077] Example 2: Data Protection under Impact Disturbance from Welds or Protrusions Combination Figure 1 , Figure 4 and Figure 5 When the oil pipeline robot passes through welds, local protrusions, narrowing sections, or local hard wax layers, the communication side wall-mounted rollers are subjected to transient impacts, the radial displacement change rate of the coil box shows a short-term peak, the robot's vibration amplitude or acceleration peak exceeds the impact threshold, and the received signal strength or signal-to-noise ratio decreases within the preset recovery time window. The status acquisition module synchronously acquires communication signal characteristics, near-wall structure status characteristics, robot motion status characteristics, and pipe wall detection characteristics; among which, the characteristics used for impact determination in this embodiment include the radial displacement change rate of the coil box, robot vibration amplitude or peak acceleration, received signal strength, signal-to-noise ratio, and bit error rate; the control module constructs disturbance characteristic information based on the above status data; When the radial displacement change rate reaches the change rate impact threshold within the first preset time window, the vibration amplitude or acceleration peak reaches the impact threshold, the received signal strength or signal-to-noise ratio decreases within the first preset time window, and the feedback coupling state evaluation value recovers to above the recovery threshold within the preset recovery time window, the control module identifies the source of communication coupling degradation as weld seam or protrusion impact disturbance, rather than continuous lift-off disturbance or residual wax or oil contamination disturbance. The first control loop executes a fast compensation strategy based on the disturbance source separation result. The fast compensation strategy includes at least one of the following actions: caching high-priority detection data, delaying the transmission of key data, reducing the communication rate, increasing error correction coding redundancy, and retransmitting abnormal data packets within the first preset time window. When the feedback-type coupling state evaluation value recovers within the preset recovery time window, the control module sends the cached high-priority detection data and resumes normal communication mode; when the feedback-type coupling state evaluation value fails to recover, the enhanced communication mode is maintained or an anomaly is reported. This embodiment distinguishes between transient mechanical impacts and persistent communication failures, and buffers or delays the transmission of critical data during the impact, which helps reduce the risk of abnormal or lost high-priority detection data transmission when the robot passes through welds or protrusions.

[0078] Example 3: Synergistic Re-inspection and Re-scraping under the Disturbance of Residual Wax or Oil Contamination Combination Figure 1 , Figure 4 , Figure 5 and Figure 6 After the oil pipeline robot completes local wax scraping, the pipe wall detection unit uses a laser sensor to detect the pipe wall area after wax scraping and obtain at least one of the following: laser reflection intensity, residual wax layer thickness, pipe wall outline after wax scraping, or the difference in pipe wall condition before and after wax scraping. The laser reflection intensity anomaly refers to the normalized laser reflection intensity anomaly amount reaching the reflection intensity anomaly threshold; the normalized laser reflection intensity anomaly amount is determined based on the absolute difference between the current laser reflection intensity and the laser reflection intensity under the calibration state and the reflection intensity normalized reference value. When at least one of the following conditions is met: the normalized laser reflection intensity anomaly reaches the reflection intensity anomaly threshold, the residual wax layer thickness exceeds the residual wax threshold, or the difference in pipe wall profile before and after wax scraping reaches the profile difference threshold, the normalized near-wall displacement disturbance does not exceed the first displacement threshold, the received signal strength or signal-to-noise ratio continues to decrease within the second preset time window, and the bit error rate, retransmission rate, or number of retransmissions continues to increase within the second preset time window, the status acquisition module sends the relevant pipe wall detection features, near-wall structural status features, and communication signal features to the control module. The control module makes judgments based on disturbance characteristic information and disturbance source separation rules. When the normalized laser reflection intensity anomaly reaches the reflection intensity anomaly threshold, the normalized near-wall displacement disturbance does not exceed the first displacement threshold, and the residual wax layer thickness exceeds the residual wax threshold or the pipe wall profile difference before and after wax scraping reaches the profile difference threshold, the control module prioritizes identifying the communication coupling degradation source as residual wax or oil contamination disturbance, rather than radial lift-off disturbance. When only the laser reflection intensity is abnormal, the control module first triggers a pipe wall re-inspection and determines the disturbance source based on the re-inspection results. The second control loop generates a slow-speed collaborative compensation strategy based on the residual wax or oil contamination disturbance. The slow-speed collaborative compensation strategy includes at least one of the following actions: triggering pipe wall re-inspection, requesting the wax scraping mechanism to re-scrape the local area, reducing the robot's travel speed, marking the current pipe segment as a communication risk area, and maintaining the enhanced error correction mode; The control module does not prioritize increasing the transmission power, but instead prioritizes outputting control commands for pipe wall re-inspection or local re-scraping to the operation coordination module; before the re-inspection or local re-scraping is completed, the communication execution module maintains the enhanced communication mode and caches the high-priority detection data until the communication quality is restored before sending it; After the re-inspection or local re-scraping is completed, the control module reacquires the near-wall communication status data and regenerates the coupling status assessment value; when the regenerated coupling status assessment value reaches the recovery threshold, the normal communication mode is restored; when the regenerated coupling status assessment value does not reach the recovery threshold, the enhanced communication mode is continued, the current pipe segment is marked as a communication risk area, or an anomaly is reported. This embodiment distinguishes between residual wax or oil contamination disturbances and radial lift-off disturbances by using the exclusion relationship between pipe wall detection features and near-wall structural state features. This allows the compensation action to be implemented in response to the communication coupling degradation caused by pipe wall deposits, which helps to reduce the risk of ineffective compensation and increased energy consumption caused by only performing electrical parameter compensation.

[0079] Example 4: Steady-state time window transmission under axial or circumferential offset disturbance Combination Figure 4 and Figure 5 When the oil pipeline robot is running in the bend or attitude change area, the normalized near-wall displacement disturbance does not exceed the first displacement threshold, the received signal strength or phase deviation fluctuates periodically within the preset evaluation time window, the robot yaw state or communication coil attitude change has a time correspondence with the periodic fluctuation, and the noise floor change does not reach the interference threshold. The status acquisition module synchronously acquires communication signal characteristics, near-wall structure status characteristics, robot motion status characteristics, and pipe wall detection characteristics. Among them, the features used for offset determination in this embodiment include near-wall distance estimation, robot yaw state, communication coil attitude fluctuation, received signal strength, phase deviation, and noise floor variation. The control module constructs disturbance feature information based on the above status data and identifies the source of communication coupling degradation as axial or circumferential offset disturbance. The first control loop selects a time window for sending high-priority detection data based on the robot's posture state and changes in communication signals; within the time window corresponding to robot posture fluctuations, the first control loop performs at least one of the following actions: reducing communication rate, buffering high-priority detection data, or delaying the transmission of critical data. When the periodic fluctuations persist, the control module maintains the enhanced communication mode; when the robot leaves the curved section or swaying area and the regenerated coupling state evaluation value recovers to above the normal threshold, the normal communication mode is restored. This embodiment selects the data transmission time window based on the robot's posture changes, so that the timing of sending high-priority detection data is adapted to the change in the coupling direction of the communication coil, which helps to reduce the risk of abnormal data transmission during posture shift.

[0080] Example 5: Communication parameter switching under electromagnetic interference disturbance Combination Figure 4 and Figure 5When the normalized near-wall displacement disturbance does not exceed the first displacement threshold, the vibration amplitude or acceleration characteristics do not reach the impact threshold, the pipe wall detection characteristics do not reach the corresponding abnormal threshold, but the noise floor change reaches the interference threshold or an abnormal peak appears in the spectrum that reaches the interference peak threshold, and the signal-to-noise ratio decreases while the received signal strength does not decrease in accordance with the decrease in the signal-to-noise ratio, the control module identifies the source of communication coupling degradation as electromagnetic interference disturbance. The status acquisition module synchronously acquires communication signal characteristics, near-wall structure status characteristics, robot motion status characteristics, and pipe wall detection characteristics. Among these, the characteristics used for electromagnetic interference determination in this embodiment include noise floor variation, spectrum anomaly characteristics, signal-to-noise ratio, received signal strength, near-wall distance estimation, robot vibration status, and pipe wall detection characteristics. The control module excludes radial lifting, impact, and residual wax or oil contamination factors based on the near-wall structure status, robot motion status, and pipe wall detection characteristics. The communication execution module performs communication parameter compensation based on electromagnetic interference disturbances; the communication parameter compensation includes at least one of the following actions: switching carrier frequency, switching resonant parameters, adjusting communication time slots, or adjusting filtering strategies. After compensation is performed, the control module reacquires near-wall communication status data and regenerates coupling status evaluation value within a preset evaluation time window. When the regenerated coupling status evaluation value recovers to above the normal threshold, the compensated communication parameters are maintained and the normal communication mode is restored. When the regenerated coupling status evaluation value is below the normal threshold but not below the abnormal threshold, the enhanced communication mode is maintained. When the regenerated coupling status evaluation value is below the abnormal threshold for multiple consecutive preset evaluation cycles, an anomaly is reported and high-priority detection data is cached. This embodiment identifies electromagnetic interference after excluding abnormal mechanical and pipe wall conditions, and compensates for it with communication parameters corresponding to the electromagnetic interference. This helps to reduce the risk of miscompensation caused by misjudging electromagnetic interference as mechanical disturbance or pipe wall contamination.

[0081] Example 6: Comparative Verification Method of Predictive Compensation Method To illustrate the role of predictive coupled state evaluation values ​​and pre-compensation strategies, a comparative verification method is used to set up a predictive compensation group and a feedback compensation group. The predictive compensation group uses the method described in this invention to simultaneously acquire communication signal characteristics, near-wall structure state characteristics, robot motion state characteristics, and pipe wall detection characteristics; it generates a predictive coupling state evaluation value based on the near-wall structure state characteristics and electromagnetic path loss changes, and generates a feedback coupling state evaluation value based on the communication signal characteristics; when the predictive coupling state evaluation value is lower than the pre-compensation threshold, the feedback coupling state evaluation value is not lower than the communication anomaly threshold, and at least one mechanical domain early warning condition is met, the pre-compensation strategy is executed. The feedback compensation group only performs feedback adjustment based on communication results such as received signal strength, bit error rate, packet loss rate, or communication connection status, without utilizing near-wall structure status and pipe wall detection characteristics for pre-compensation; when communication quality deteriorates, the feedback compensation group performs at least one of the following actions: reducing communication rate, increasing data retransmission frequency, or adjusting transmission power. Under the same pipeline environment and robot operating conditions, two groups of robots were made to pass through areas of pipe diameter change, weld or protrusion areas, and areas contaminated with residual wax or oil, respectively. The trigger time of pre-compensation or feedback compensation, bit error rate, packet loss rate, number of retransmissions, high-priority detection data transmission status, and communication recovery status after compensation were recorded. By comparing the above states, we can evaluate the effect of early execution of data caching, error correction redundancy enhancement, communication rate adjustment, or pipe wall re-inspection and re-scraping coordination on reducing compensation lag and the risk of abnormal data transmission of high-priority detection when the predictive coupling state evaluation value reaches the corresponding condition before the feedback coupling state evaluation value. This embodiment is used to illustrate the comparative verification method of the predictive compensation method. The specific test conditions and evaluation parameters can be configured according to the pipe inner diameter, pipe wall material, communication coil parameters, robot travel speed and communication carrier frequency.

[0082] Example 7: Disturbance Source Separation Prediction and Compensation System Combination Figure 2 In one system implementation, the near-wall magnetic induction communication disturbance source separation prediction and compensation system for oil pipeline robots includes a state acquisition module 201, a coupled state evaluation module 202, a disturbance feature information construction module 203, a disturbance source separation module 204, a hierarchical cascade compensation module 205, a communication execution module 206, a closed-loop verification module 207, and an operation coordination module 208. The system also includes a near-wall magnetic induction communication coil assembly and a control module; the status acquisition module 201 includes a communication signal acquisition unit, a near-wall status detection unit, a motion status detection unit, and a pipe wall detection unit; The communication signal acquisition unit is used to acquire at least one of the following: received signal strength, signal-to-noise ratio, phase deviation, phase stability, bit error rate, packet loss rate, number of retransmissions, retransmission rate, noise floor variation, and spectral anomaly characteristics. The near-wall state detection unit is used to detect at least one of the following: radial floating displacement of the coil box, rate of change of radial displacement of the coil box, contact state of the wall roller, attitude fluctuation of the communication coil, retraction or reset state of the coil box, and near-wall distance estimation. The motion state detection unit is used to detect at least one of the following: robot travel speed, peak acceleration, vibration amplitude, yaw state, impact signal when the robot passes through weld seam or narrowing section, and the unfolding or retracting state of the wax scraping tool. The pipe wall detection unit is used to detect at least one of the following: pipe wall profile after wax scraping, residual wax layer thickness, laser reflection intensity, local protrusion height, pipe wall depression or diameter change information, and the difference in pipe wall condition before and after wax scraping. The control module is connected to the near-wall magnetic induction communication coil assembly, the communication signal acquisition unit, the near-wall state detection unit, the motion state detection unit, and the pipe wall detection unit, respectively, and is used to realize the functions of the coupling state evaluation module 202, the disturbance feature information construction module 203, the disturbance source separation module 204, the hierarchical cascade compensation module 205, the communication execution module 206, the closed-loop verification module 207, and the operation coordination module 208. After the status acquisition module 201 synchronously acquires the near-wall communication status data, the coupling status assessment module 202 generates a predictive coupling status assessment value and a feedback coupling status assessment value; the disturbance feature information construction module 203 constructs disturbance feature information based on the assessment values ​​and the near-wall communication status data; the disturbance source separation module 204 identifies the sources of communication coupling degradation; the hierarchical cascade compensation module 205 generates a corresponding compensation strategy based on the disturbance source separation results; the communication execution module 206 or the operation coordination module 208 executes the compensation strategy; and the closed-loop verification module 207 reacquires the near-wall communication status data after compensation and regenerates the coupling status assessment value. In the implementation with an active radial adjustment mechanism, the operation coordination module can also output control commands to the active radial adjustment mechanism based on the disturbance source separation results to adjust the radial position or pre-tightening state of the communication coil box; when no active radial adjustment mechanism is set, compensation is implemented through communication parameter adjustment, data transmission control, robot motion constraints, pipe wall re-inspection or local re-scraping. Through the data and control relationships between the above modules, the system can perform communication coupling degradation prediction, disturbance source separation, differential compensation, and closed-loop evaluation after compensation based on state data from different physical domains.

[0083] Example 8: Electronic devices and computer-readable storage media In one embodiment of an electronic device, the electronic device includes a processor and a memory, wherein a computer program is stored in the memory; When a computer program is executed by a processor, it enables electronic devices to control oil pipeline robots according to... Figure 1 The process shown executes a near-wall magnetic induction communication disturbance source separation prediction and compensation method, including synchronously acquiring near-wall communication state data, generating predictive coupling state evaluation values ​​and feedback coupling state evaluation values, constructing disturbance feature information, identifying communication coupling degradation sources, generating compensation strategies, and performing closed-loop verification after compensation. Based on the results of disturbance source separation, the electronic device outputs communication parameter adjustment, data transmission control, or data retransmission instructions to the communication execution module, or outputs robot motion constraints, pipe wall re-inspection, or local re-scraping instructions to the operation coordination module. In one embodiment of a computer-readable storage medium, a computer program is stored in the computer-readable storage medium; when the computer program is executed by a processor, it enables an electronic device to control an oil pipeline robot to implement the above-mentioned near-wall magnetic induction communication disturbance source separation prediction compensation method.

Claims

1. A near-wall magnetic communication disturbance prediction and compensation method, characterized in that, include: Synchronously acquire near-wall communication status data during the operation of the oil pipeline robot. The near-wall communication status data includes communication signal characteristics, near-wall structural status characteristics, robot motion status characteristics, and pipe wall detection characteristics. The near-wall structural status characteristics include at least one of coil box radial floating displacement, coil box radial displacement change rate, and communication coil attitude fluctuation characteristics. The robot motion status characteristics include at least one of vibration amplitude and acceleration characteristics. Based on the near-wall structural state characteristics and the electromagnetic path loss changes determined based on the near-wall communication state data, a predictive coupling state evaluation value is generated, and a feedback coupling state evaluation value is generated based on the communication signal characteristics. When the predictive coupling state evaluation value is lower than the pre-compensation threshold, the feedback coupling state evaluation value is not lower than the communication anomaly threshold, and at least one of the following conditions is met, a pre-compensation strategy including at least one action of communication parameter adjustment and data transmission control is executed: The deviation of the radial floating displacement of the coil box from the reference displacement continues to increase within a preset number of consecutive sampling periods and reaches the displacement warning threshold. The rate of change of radial displacement of the coil box has reached the warning threshold for the rate of change. The vibration amplitude or acceleration characteristics reach the vibration warning threshold; The attitude fluctuation characteristics of the communication coil have reached the attitude warning threshold. Based on the predicted coupling state evaluation value, the feedback coupling state evaluation value, and the near-wall communication state data, disturbance feature information is constructed. Based on the consistency, time correspondence, and exclusion relationship among the communication signal features, near-wall structural state features, robot motion state features, and pipe wall detection features, at least one of the following is identified as a disturbance source: radial lift-off disturbance, weld or protrusion impact disturbance, residual wax or oil contamination disturbance, axial or circumferential offset disturbance, and electromagnetic interference disturbance. Based on one or more of the identified disturbance sources, a compensation strategy corresponding to the one or more disturbance sources is generated and executed, the compensation strategy including at least one of communication parameter adjustment, data transmission control, robot motion constraint, pipe wall re-inspection and local re-scraping; After compensation is performed, near-wall communication status data is reacquired. Based on the reacquired near-wall communication status data, a coupling status evaluation value is regenerated. Based on the regenerated coupling status evaluation value and the source of the disturbance, a decision is made to restore the normal communication mode, maintain an enhanced communication mode that includes at least one action of communication parameter adjustment and data transmission control, perform pipe wall re-inspection or local re-scraping, or report an anomaly.

2. The near-wall magnetic communication disturbance prediction and compensation method according to claim 1, characterized in that: The communication signal characteristics include at least one of the following: received signal strength, signal-to-noise ratio, phase deviation, phase stability, bit error rate, packet loss rate, number of retransmissions, retransmission rate, noise floor variation, and spectral anomaly characteristics. The near-wall structural state characteristics also include at least one of the following: the contact state of the wall-mounted roller, the retraction or reset state of the coil box, and the estimated value of the near-wall distance. The robot motion state characteristics also include at least one of the following: robot travel speed, yaw state, impact signal when passing through weld seam or narrowing section, and wax scraping tool unfolding or retracting state. The pipe wall detection features include at least one of the following: pipe wall profile after wax scraping, residual wax layer thickness, laser reflection intensity, local protrusion height, pipe wall depression or diameter change information, and the difference in pipe wall condition before and after wax scraping, all obtained by a laser sensor.

3. The near-wall magnetic communication disturbance prediction and compensation method according to claim 1, characterized in that: The predictive coupling state evaluation value is generated by weighting the normalized near-wall displacement disturbance, the normalized radial displacement change rate, the normalized electromagnetic path loss increment, and the normalized vibration or acceleration characteristics. The feedback-type coupling state evaluation value is generated by subtracting the weighted sum of the normalized received signal strength, normalized signal-to-noise ratio, and normalized phase stability from the weighted sum of the normalized bit error rate and the normalized retransmission rate or packet loss rate. The method further includes fusing the predictive coupling state evaluation value and the feedback coupling state evaluation value to generate a comprehensive coupling state evaluation value; Both the predictive coupling state evaluation value and the feedback coupling state evaluation value are considered to have better coupling states with larger values. The pre-compensation threshold is used to compare with the predictive coupling state evaluation value, and the communication anomaly threshold is used to compare with the feedback coupling state evaluation value.

4. The near-wall magnetic communication disturbance prediction and compensation method according to claim 1, characterized in that: When at least one of the following conditions is met: the normalized laser reflection intensity anomaly reaches the reflection intensity anomaly threshold, the residual wax layer thickness exceeds the residual wax threshold, or the difference in the pipe wall profile before and after wax scraping reaches the profile difference threshold, the normalized near-wall displacement disturbance does not exceed the first displacement threshold, the received signal strength or signal-to-noise ratio continues to decrease within the preset evaluation time window, and the bit error rate, retransmission rate, or number of retransmissions continues to increase within the preset evaluation time window, the disturbance source is preferentially identified as residual wax or oil contamination disturbance, rather than radial lift-off disturbance. When only the normalized laser reflection intensity anomaly reaches the reflection intensity anomaly threshold, while the residual wax layer thickness and the difference in pipe wall profile before and after wax scraping do not reach the corresponding threshold, a pipe wall re-inspection is performed first, and the source of the disturbance is determined based on the pipe wall detection characteristics obtained from the re-inspection.

5. The near-wall magnetic communication disturbance prediction and compensation method according to claim 1, characterized in that: The compensation strategy includes a fast compensation strategy corresponding to the first control loop and a slow collaborative compensation strategy corresponding to the second control loop. The first control loop is used to process weld or protrusion impact disturbances and axial or circumferential offset disturbances whose duration does not exceed the first preset time window or can be recovered within the preset recovery time window, and to perform at least one of the following actions: reducing communication rate, increasing error correction coding redundancy, extending synchronization preamble, increasing data retransmission times, caching high-priority detection data, delaying the transmission of key data, transmitting key data within the robot posture stabilization time window, and retransmitting abnormal data packets. The second control loop is used to handle at least one of the following disturbances: residual wax or oil pollution disturbances that last for a second preset time window, exist for multiple consecutive preset evaluation cycles, or require robot operation actions to handle; radial lifting disturbances; axial or circumferential offset disturbances; and electromagnetic interference disturbances. It also performs at least one of the following actions: reducing robot travel speed; triggering pipe wall re-inspection; requesting the wax scraping mechanism to re-scrape the local area; marking the current pipe section as a communication risk area; switching carrier frequency; switching resonance parameters; adjusting communication time slots; maintaining enhanced error correction mode; caching high-priority detection data until communication quality is restored before sending it; and reporting anomalies. The second preset time window is not shorter than the first preset time window; The enhanced communication mode includes at least one of the following actions: reducing communication rate, increasing error correction coding redundancy, extending synchronization preamble, increasing data retransmission frequency, caching high-priority detection data, and retransmitting data.

6. The near-wall magnetic communication disturbance prediction and compensation method according to claim 5, characterized in that: When the source of disturbance is identified as residual wax or oil contamination, priority should be given to re-inspecting the pipe wall or performing local re-scraping. After completing the pipe wall re-inspection or local re-scraping, the communication signal characteristics, near-wall structure state characteristics, robot motion state characteristics and pipe wall detection characteristics are reacquired, and the coupling state evaluation value is regenerated based on the reacquired characteristics. When the regenerated coupling state evaluation value reaches the recovery threshold, normal communication mode is restored; If the regenerated coupling state assessment value does not reach the recovery threshold, perform at least one of the following actions: maintain enhanced communication mode, mark the current pipe segment as a communication risk zone, and report anomalies.

7. A near-wall magnetic induction communication disturbance source separation prediction and compensation system, characterized in that, It includes a near-wall magnetic induction communication coil assembly, a status acquisition module, a control module, a communication execution module, and a work coordination module; The status acquisition module is used to synchronously acquire near-wall communication status data during the operation of the oil pipeline robot. The near-wall communication status data includes communication signal characteristics, near-wall structural status characteristics, robot motion status characteristics, and pipe wall detection characteristics. The near-wall structural status characteristics include at least one of coil box radial floating displacement, coil box radial displacement change rate, and communication coil attitude fluctuation characteristics. The robot motion status characteristics include at least one of vibration amplitude and acceleration characteristics. The control module is connected to the near-wall magnetic induction communication coil assembly, the status acquisition module, the communication execution module and the operation coordination module respectively, and the control module includes a coupling status evaluation unit, a disturbance feature information construction unit, a disturbance source separation unit, a hierarchical cascade compensation unit and a closed-loop verification unit. The coupling state evaluation unit is used to generate a predictive coupling state evaluation value based on the near-wall structure state characteristics and the electromagnetic path loss change determined based on the near-wall communication state data, and to generate a feedback coupling state evaluation value based on the communication signal characteristics. The disturbance feature information construction unit is used to construct disturbance feature information based on the predictive coupling state evaluation value, the feedback coupling state evaluation value, and the near-wall communication state data; The disturbance source separation unit is used to identify at least one of the following as disturbance sources based on the consistency, time correspondence and exclusion relationship between the communication signal characteristics, near-wall structure state characteristics, robot motion state characteristics and pipe wall detection characteristics: radial lifting disturbance, weld or protrusion impact disturbance, residual wax or oil contamination disturbance, axial or circumferential offset disturbance and electromagnetic interference disturbance. The hierarchical cascaded compensation unit is used to generate compensation strategies corresponding to the first control loop and the second control loop based on the disturbance source, and generates a pre-compensation strategy including at least one action of communication parameter adjustment and data transmission control when the predictive coupling state evaluation value is lower than the pre-compensation threshold, the feedback coupling state evaluation value is not lower than the communication anomaly threshold, and at least one of the following conditions is met: The deviation of the radial floating displacement of the coil box from the reference displacement continues to increase within a preset number of consecutive sampling periods and reaches the displacement warning threshold. The rate of change of radial displacement of the coil box has reached the warning threshold for the rate of change. The vibration amplitude or acceleration characteristics reach the vibration warning threshold; The attitude fluctuation characteristics of the communication coil have reached the attitude warning threshold. The communication execution module is used to perform at least one of the following actions: communication parameter adjustment, data transmission control, and data retransmission; The operation coordination module is used to perform at least one of the following actions: robot motion constraints, pipe wall re-inspection, and local re-scraping. The closed-loop verification unit is used to reacquire near-wall communication status data after compensation is performed, regenerate coupling status evaluation value based on the reacquired near-wall communication status data, and decide whether to restore normal communication mode, maintain enhanced communication mode including at least one action of communication parameter adjustment and data transmission control, perform pipe wall re-inspection or local re-scraping, or report anomalies based on the regenerated coupling status evaluation value and the source of disturbance.

8. The near-wall magnetic induction communication disturbance source separation prediction and compensation system according to claim 7, characterized in that: The status acquisition module includes a communication signal acquisition unit, a near-wall status detection unit, a motion status detection unit, and a pipe wall detection unit; The communication signal acquisition unit is used to acquire at least one of the following: received signal strength, signal-to-noise ratio, phase deviation, phase stability, bit error rate, packet loss rate, number of retransmissions, retransmission rate, noise floor variation, and spectral anomaly characteristics. The near-wall state detection unit is used to detect at least one of the following: radial floating displacement of coil box, radial displacement change rate of coil box, contact state of wall roller, attitude fluctuation characteristics of communication coil, retraction or reset state of coil box, and near-wall distance estimate. The motion state detection unit is used to detect at least one of the following: robot travel speed, peak acceleration, vibration amplitude, yaw state, and impact signal when passing through weld seam or narrowing section. The pipe wall detection unit is used to detect at least one of the following through a laser sensor: pipe wall profile after wax scraping, residual wax layer thickness, laser reflection intensity, local protrusion height, pipe wall depression or diameter change information, and the difference in pipe wall condition before and after wax scraping.

9. An electronic device for near-wall magnetic induction communication disturbance source separation, prediction, and compensation, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and executable by the processor; when the processor executes the computer program, it causes the electronic device to control the oil pipeline robot to perform the method of any one of claims 1 to 6.

10. A computer-readable storage medium for near-wall magnetic induction communication disturbance source separation prediction compensation, characterized in that, The computer-readable storage medium stores a computer program; when the computer program is executed by a processor, it causes an electronic device to control an oil pipeline robot to perform the method of any one of claims 1 to 6.

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